RobOptim: an Optimization Framework for Robotics

Thomas Moulard (1) , Florent Lamiraux (2) , Karim Bouyarmane (3) , Eiichi Yoshida (1)

1 CNRS-AIST JRL - Joint Robotics Laboratory
2 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
3 ATR Computational Neuroscience Lab

Numerical optimization is useful for various areas of robotics. However tackling optimization problems properly requires the use of non-trivial algorithms whose tuning is challenging. RobOptim aims at providing a unified framework for different categories of optimization problems while relying on strong C++ typing to ensure efficient and correct computations. This paper presents this software, demonstrates its genericity and illustrates current use by two full scale robotics examples.

Mots clés: Software; Humanoid Robotics; Numerical Optimization

Domaines: Robotique [cs.RO]

Thomas Moulard, Florent Lamiraux, Karim Bouyarmane, Eiichi Yoshida. RobOptim: an Optimization Framework for Robotics. Robomec, May 2013, Tsukuba, Japan. 4p. ⟨hal-00802083⟩